Capsule

A 3D capsule shape that captures colliders with curvilinear geometric properties.

Parameter	Type	Description
type	string	The Capsule shape class
name	string	A user-defined name of the shape
frame	string	The coordinateshe frame this shape belongs to. Can either be world or robot frame
physical	boolean	True if the collision with this shape is phyiscal, else false
length	float	The length of length of the capsule, not including caps
radius	float	The length of radius of the capsule
localTransform	isometry consisted of translation and rotation	Defines the position and rotation of the shape relevant to the specific frame

Javascript

let shape = {
  type:'Capsule',
  name:'pill',
  frame: 'world',
  physical: true,
  length:0.2,
  radius:0.1,
  localTransform: {translation:[0.0,0.0,0.0],rotation:[1.0,0.0,0.0,0.0]} // [x, y, z, w] ordering for quaternion
  }

Python

shape = CapsuleShape(
  name="pill",
  frame='world',
  physical=True,
  length=0.2,
  radius=0.1,
  local_transform=Transform.identity())

Rust

let transform = Isometry3::from_parts(
         Translation3::new(
             0.0,
             0.0,
             0.0,
         ),
         UnitQuaternion::from_quaternion(Quaternion::new(
             0.0,
             0.0,
             -0.7069999677447771,
             0.7072135784958345,
         )),
     );
let capsule_1 =  Shape::Capsule(CapsuleShape::new(
             "capsule".to_string(),
             "world".to_string(),
             true,
             0.5,
             0.25,
             transform,
         ));